Work machine control

ABSTRACT

The invention relates to controlling and/or managing recycling and/or waste management work machines. 
     According to an embodiment a method for managing work machines comprises receiving a first message at a receiving work machine from a sending work machine. Said first message comprising message fields, wherein at least one message field comprises information on machines already joined in the job. The method comprises forming at least one modified message field to include information of the receiving machine and its placement in relation to other machines already joined in the job. The method comprises transmitting said at least one modified message field from said receiving work machine to said sending work machine.

FIELD OF THE INVENTION

The present invention relates to controlling work machines, for exampleto controlling the interworking of recycling work machines.

BACKGROUND OF THE INVENTION

As prices of raw materials and energy continue to rise, efficiency andproductivity in recycling and waste management systems becomes all themore necessary. Often, the personnel operating such systems may havelimited educational background, and managing complex systems andoperating them in an efficient manner may thus be very difficult. Addingto this difficulty, the mobile work machines may be grouped together invarious different ways, e.g. depending on what kind of material is beingprocessed and how the work has been organized. The machines may bearranged into a process pipeline, where the output of one work machineis the input of another work machine, and the different machines need tobe controlled as a group. Even if the machines are not arranged to becontrolled together, their efficiency may need to be evaluated to beable to arrange the work more efficiently.

For these and other reasons, there is a need for easier and/or moreefficient ways of managing and controlling recycling and wastemanagement systems comprising work machines.

SUMMARY OF THE INVENTION

The embodiments aim to control a work process and/or work processentities. Controlling may be implemented via messages or a messagingsystem according to embodiments. The messages and/or the messagingsystem which may enable controlling work process entities with reduceduser interaction.

According to an embodiment a method for managing work machines comprisesreceiving a first message at a receiving work machine from a sendingwork machine. Said first message comprising message fields, wherein atleast one message field comprises information on machines already joinedin a job. The method comprises forming at least one modified messagefield to include information of the receiving machine and its placementin relation to other machines already joined in the job. The methodcomprises transmitting said at least one modified message field fromsaid receiving work machine to said sending work machine.

According to an embodiment a method for managing work machines comprisestransmitting a message to a receiving work machine from a sending workmachine, said message comprising message fields, wherein at least onemessage field comprising information on machines already joined in ajob. The method comprises receiving a message comprising at least onemodified message field from said receiving work machine to said sendingwork machine, wherein said modified message field includes informationof the receiving machine and its placement in relation to other machinesalready joined in the job.

According to an embodiment a module for a work machine comprises aprocessor and computer program code, wherein said computer program code,when executed on said processor, is configured to cause the work machineto receive a first message from a sending work machine. Said firstmessage comprises message fields and said message fields compriseinformation on machines already joined in the job. The module isconfigured to cause the work machine to form at least one modifiedmessage field to include information of the work machine and itsplacement in relation to other machines already joined in the job, andto transmit said at least one modified message field to said sendingwork machine.

An embodiment comprises a module for managing work machines comprising aprocessor and computer program code, wherein said computer program code,when executed on said processor, is configured to cause the module toform a message comprising message fields, said message fields comprisinginformation on machines already joined in a job, transmit a message viawireless connection, and receive a message comprising at least onemodified message field, said modified message field includinginformation of the job, machine(s) currently participating the job andthe machine(s) placement in relation to each other in the job.

In an embodiment a computer program product comprises computerexecutable code, wherein said computer executable code is being arrangedto, when executed on a processor, to cause a system to receive a firstmessage, said first message comprising message fields, wherein at leastone message field comprises information on entities already joined inthe job, form at least one modified message field to include informationof the receiving entity and its placement in relation to other entitiesalready joined in the job, and transmit said at least one modifiedmessage field from said receiving entity to said sending entity.

An embodiment comprises a data structure for controlling an operation ofa work machines. Said data structure comprises a field comprising ajob-id, wherein the field comprising the job-id comprises information ona job, work machines joined to the job and arrangement of the workmachines joined to the job in relation to each other. The messagefurther comprises a sender-id field for identifying a machine arrangedto send the message and a receiver-id field for identifying a machinearranged to receive the message.

An embodiment comprises a computer program product comprising computerexecutable code, said computer executable code being arranged to, whenexecuted on a processor, to cause a system or a machine to receive afirst message at a receiving work machine from a sending work machine,said first message comprising message fields, wherein at least onemessage field comprises information on machines already joined in thejob. The computer executable code is arranged to cause a system or amachine to form at least one modified message field to includeinformation of the receiving machine and its placement in relation toother machines already joined in the job. The system or the machine isfurther caused to transmit said at least one modified message field fromsaid receiving work machine to said sending work machine.

In an embodiment a computer program product comprises computerexecutable code, said computer executable code being arranged to, whenexecuted on a processor, to cause a system or a machine to transmit amessage to a receiving work machine from a sending work machine, saidmessage comprising message fields, said message fields comprisinginformation on machines already joined in the job. The machine or thesystem is further caused to receive a message comprising at least onemodified message field from said receiving work machine to said sendingwork machine, said modified message field including information of thereceiving machine and its placement in relation to other machinesalready joined in the job.

According to an embodiment a work machine comprises means for receivinga first message at a receiving work machine from a sending work machine,said first message comprising message fields, wherein at last onemessage field comprises information on machines already joined in thejob. The work machine comprises means for forming at least one modifiedmessage field to include information of the receiving machine and itsplacement in relation to other machines already joined in the job. Thework machine further comprises means for transmitting said at least onemodified message field from said receiving work machine to said sendingwork machine.

According to an embodiment a work machine comprises means fortransmitting a message to a receiving work machine from a sending workmachine, said message comprising message fields, wherein at least onemessage field comprising information on machines already joined in thejob. The work machine may further comprise means for receiving a messagecomprising at least one modified message field from said receiving workmachine to said sending work machine, said modified message fieldincluding information of the receiving machine and its placement inrelation to other machines already joined in the job.

According to at least one/all embodiments a messaging system forcontrolling a work process, comprises messages comprising messagefields, wherein at least one message field comprises information on thework process and the user currently joined in the work process.

DESCRIPTION OF THE DRAWINGS

In the following, various example embodiments will be described withreference to the Figures, in which

FIG. 1a depicts a commonly used recycling work machine setup with anumber of work machines;

FIG. 1b shows an example process flow for recycling work machines;

FIG. 2a depicts an example of a work machine according to an exampleembodiment;

FIG. 2b shows a block diagram of a work machine according to an exampleembodiment;

FIG. 3a shows a control interface with machine efficiency indicators forcontrolling a work machine according to an example embodiment;

FIG. 3b shows control interfaces for controlling a work machine andinitiating inter-working of work machines;

FIG. 4a shows a flow chart of a method for initiating inter-working ofwork machines according to an example embodiment;

FIG. 4b shows a flow chart of a method for controlling work machinesaccording to an example embodiment;

FIG. 5a shows an example setup of work machines for a landfill site; and

FIG. 5b shows an example of indicating work machines working on the samejob.

FIG. 6 shows a flow chart of a method according to an embodiment.

FIG. 7 shows a message according to an embodiment.

FIG. 8 shows a flow chart of messaging according to an embodiment.

FIG. 9 shows a flow chart of messaging according to an embodiment.

DETAILED DESCRIPTION OF THE INVENTION

In the following, the operation of the various embodiments will bedescribed with reference to recycling or waste processing work machines.However, the invention has applications in any environment whereinter-working of work machines needs to be improved. The specificexamples of job id and work processes given herein are to be taken asexamples only, and it needs to be understood that the job id may be anyidentifier in the work machine system that allows the determination ofwhat work is being carried out at a specific work machine.

FIG. 1a depicts a commonly used recycling work machine setup with anumber of work machines. A first work machine 130, for example ashredder machine, is started ready to receive material to be processed.The material to be processed is input to the machine by a wheel loader120. From the shredder, the shredded material is output to a screeningmachine 110 so that the material sizes can be further separated. Thedifferent machines 110, 120, 130 are thus in an inter-workingarrangement with respect to each other; the operation of one machineaffects the operation of another machine and the total efficiency of themachine arrangement. The machines are connected to each other through acommunication module 112, 122, 132, and thus the machines can exchangeinformation with each other. For example, the operational parameterslike running speed and engine status may be provided by one work machineto be available at a second work machine. The work machines have acontrol unit, through which the operational parameters can be adjusted.According to an embodiment, the work machines 110, 120 and 130 areoperating on the same work process—a job—and an identifier of the job(job id) is maintained in the memory of the control unit. This allowsthe monitoring and even control of the other work machines that areoperating on the same job without the danger of interfering with a workmachine that is operating on another job.

The control unit of a work machine may comprise a connection to thecommunication module of the work machine, whereby the control unit maybe able to display information from the shredder, wheel loader andscreen over the wireless connection. In addition, the control unit mayhave functionalities for keeping working hour logs for operators, a userinterface that is able to support the operator in using the workmachine, and target/achievement display of the efficiency of theoperator. Alarm logs, maintenance monitoring and other machine statusinformation from all machines connected to same job may be available fordisplay at the control unit. Additionally, a log of the times anddurations of an operator running a machine may be kept so that thestatus and efficiency information may be matched with the operator. Thismay provide a way to form operator-specific efficiency information asreports to the operator so that he/she is able to improve the efficiencyof his/her work. Here, it needs to be understood that the system maykeep a log for a process where multiple operators operate multiplemachines, thus creating a shared log for these operators.

The above information, e.g. efficiency data, may also be monitoredremotely at a computer, e.g. through a web browser interface, andprintout reports may be obtained. The efficiency data obtained from workmachines working on the same job (sharing a job id) may be stored into adatabase so that the performance of an operator may be compared with theperformance of other operators for example on the same site or, if thedata is collected to a central server, even across sites or acrosscountries in a global manner. Efficiency data may be understood to beany data that allows the formation of figures related to productivityand/or economic profitability, yield or such.

FIG. 1b shows an example process flow for recycling work machines. Therecyclable waste 150 is input to a shredder 155. Subsequently, theoutput of the shredder is put through a drum screen 160. The drum screen160 separates a fraction A 165 from the processed waste. The remainingscreened and processed waste is put through an air separator 170 toseparate fraction B 175. The remaining waste may then be put through awater separator 180, and as an output, two fractions C 185 and D 190 areproduced.

The various work machines operate in a chain, so that changing theoperational parameters (like speed or grain size) at one work machinehas an effect on how the work machine is able to accept input from theearlier machine in the chain, and how much and what kind of output thework machine produces to the next machine in the chain. If theparameters are chosen wrong, the output efficiency of the whole systemsuffers. In embodiments of the present invention, it has been realizedthat one of the reasons for sub-optimal operator behavior is that thereis no accurate information available to the operator on various workmachines working on the same job. By transmitting a job id from thefirst work machine to another and sharing the same job id, the operatorcan more easily monitor the efficiency of the process. Operationalparameters of work machines may also be set based on the selected orreceived job id.

FIG. 2a depicts an example of a work machine according to an exampleembodiment, as well as connection to another work machine through acloud. The wheel loader 120 comprises a control unit 124 with a userinterface for receiving control input from a user, and a communicationmodule 122 for connecting to other work machines and/or to a cloud 210.The connection to a cloud may be realized through a cellular radiocommunication network 212 like a general packet radio service (GPRS)data connection. The modules 122 and 124 may be installed to the workmachine 120 after manufacture of the work machine, that is, as an add-oninstallation. In such case, the control unit may be arranged to readdata from the machine bus to be able to provide efficiency information.This reading may be arranged e.g. inductively so that no alterations areneeded to the pre-existing hardware. There may also be work machineslike a compactor 220 that are equipped with a control unit, userinterface and a communication module at time of manufacture.

FIG. 2b shows a block diagram of a work machine according to an exampleembodiment. A work machine A 220 for recycling or waste processing maycomprise a control unit CTRL 224 that is arranged to control the workmachine and the communication module so that the work machine canconnect to another work machine and transmit or receive a job id for usein controlling the operations of the work machine. The work machine maycomprise a communication module 122 arranged to transmit said job id andto connect to another communication module of another work machine. Thecontrol unit 224 may receive information on the operation of the workmachine engine 126 and information on the material processing efficiencyfrom the sensors 128.

The work machine may comprise a data bus adapter 226 configured toreceive data from a data bus 228 of the work machine, the data beingindicative of efficiency of said work machine in the current job. Thedata bus 228 may carry machine control signals, and the data bus adapter226 may be able to read these signals e.g. through an inductive couplingor in another contactless manner. In this manner, no changes to theexisting data connections of the work machine are needed, for example,wires do not need to be opened and soldered. The data bus adapter 226may be connected to the control unit 224 and the communications module122.

The control unit may also be connected to a visual indicator 230, sothat the control unit 224 and the visual indicator 230 are arranged toindicate visually the work machines having the same job id. This mayhappen e.g. by sending an optical signal (light) having certain physicalcharacteristics produced by said visual indicator such as the colorand/or blinking pattern of light. In this manner, it may be easily seenwhat machines in the area are working on the same job and thus share ajob id.

In a general manner, the work machine may comprise means for carryingout method according to any of the embodiments described in the contextof FIGS. 4a and 4b . Such means may be computer processors, memories,communication modules for communication and such.

To control the work machines effectively in an inter-working situation,the work machine may comprise means for receiving a control input from auser, this control input being suitable for starting the operation ofthe work machine. For example, an arrangement of receiving a key,receiving an access code or such may be implemented at the work machine.The work machine may then be started by this control input, and anothercontrol input may be received from the user for selecting a current jobfor the work machine. This may happen e.g. through a user interface ofthe control unit. There may also be means for transmitting a job id sothat other work machines may use the job id in joining to the currentjob (the job id identifier corresponds to the current job selected forsaid first work machine), e.g. by sending the job identifier to thesurroundings over a radio connection, or through a server or othernetwork where the job identifier is not transmitted directly to theother work machines.

A second work machine B 240 (any work machine) may comprise means 242for receiving a control input from a user for starting the operation ofsaid second work machine, means 244 for starting said second workmachine based on said first control input, means 246 for receiving a jobid from the first work machine, wherein the job id having beentransmitted from the first work machine for other work machines to usein joining to a current job of said first work machine, where the job idcorresponds to the current job selected for the first work machine.There may also be means 248 for receiving a second control input from auser for selecting a current job for the second work machine, and means249 for selecting a current job for the second work machine based on thesecond control input and the received job id 249.

That is, the same job may be selected at the second machine by receivingthe job id from the first machine.

FIG. 3a shows a control interface with machine efficiency indicators forcontrolling a work machine according to an example embodiment. In theexample control interface, the efficiency of the work machines thatshare the same job id (that have joined the same job) is displayed withthe curves 310, 312 and 314, one efficiency curve for each of the threework machines in the current job. From these curves it can be seen thatthe efficiency rate of work machine number 2 corresponding to the curve312 is fluctuating significantly. The operator can deduce that themachine is not being fully utilized, and can adjust his work methods toimprove utilization.

Also displayed on the control interface are the medium utility rates320, 322, 324 for the different work machines of the fleet of machinesthat the operator's machine belongs to, or global comparison valuesacross fleets and countries. Such medium utility rates can also bedisplayed for other operators either on the same work site or downloadedfrom a database that stores such efficiency information for other worksites and operators. An advantage of displaying other operators' utilityrates on the control interface is the operator is able to see that hemay not be performing his work in an optimal manner and he may thus beable to improve his efficiency. The display of other operators'efficiency information is achieved by the use of the job id to identifythe job that is being done at each moment, so that when the jobcharacteristics (e.g. material, machine configuration) are stored into adatabase, similar jobs can be compared. In other words, the use of a jobid to identify each job makes the logging of efficiency information moreaccurate compared to a situation where just the efficiency informationfor a certain machine were to be logged.

The control interface display also shows work machine status information330, possibly captured from the data bus of the machine as explainedearlier, and various control symbols 340 for accessing other views inthe user interface. The hammer symbol in 340 provides access to jobmanagement (based on job id) as shown in FIG. 3b . The next symbolprovides access to machine setup of the work machine, and the followingsymbol brings reports, logs and alarm lists on the screen. The lastsymbol allows the user to view the information of the fleet of workmachines in the job.

A material report e.g. as a printout, data file or electronic documentlike a PDF document may be produced from the efficiency data that hasbeen logged for a plurality of work machines, work sites andconfigurations. The material report may show the produced output in tonsor m3 etc. of material, production costs per unit, and productivity pertime, so that the operator company may see the productivity informationfor the process. The report may display productivity comparisons againstthe historical data like best historical productivity on own sites, andcomparisons to other companies and sites. This is enabled by thecollection of efficiency data associated with a job identifier, that inturn allows to find out the work machine configurations and work types(comprising information on what material has been processed) that havebeen carried out, thus making the comparison between different sitesmore accurate. This helps the operator to control the processes betterto achieve a higher efficiency.

An operator report may display the produced tons of material andproduction costs per ton for a specific user, again compared to otheroperators. This may enable to control the process so that differenthuman operators are able to carry out their work more efficiently. Theinformation may also be used as a basis for producing reports forcomputerized salary payment systems to make the production-basedincentive calculation easier and more accurate. Comparisons even on theglobal level between operators may be used to increase efficiency, andfor adding awareness of own level compared to others.

The system may also be used so that the operators are instructed on howto operate the work machine configuration in a more efficient manner.For example, the efficiency curves 310, 312 and 314 may have textualcues associated to them so that the operator may more easily achieve ahigh efficiency. For example, there may be an instruction saying“increase load speed to avoid idling the shredder” or “reduce shredderspeed” if the shredder is being loaded in an un-even manner. The systemmay collect operator specific operations log so that the manner ofworking may be analyzed later e.g. from the paper print-out. Things likeinput rate, output rate, engine load, utility rates, uptime/downtime ofwork machine, idle rate, productivity of work machine, malfunctions,service data and times, operator hours and times, and operatorefficiency, and other such information may be logged as efficiency data.The system may also instruct the operator on the spot with predictionsand instructions, e.g. by giving out a message “shredder 1 will be outof material in 40 seconds, get new load of material” when the system hasdetermined from the current efficiency data that the shredder 1 willhave processed all its current material in 40 seconds.

The system may have an additional component where other work machine'sinformation may be shown, and even the locations of different workmachines on the work field may be displayed.

The different views of the system may have titles that are the same inall systems so that navigation is easier and telephone support may begiven in problem situations. The user interface may adapt to differentworking conditions like dark or bright lighting. The user interface mayprovide visual feedback to the user on selections, e.g. displaygraphically a work machine configuration that has been selected so thatthe user can easily see whether he has selected the correctconfiguration. As described, the user interface may also show all kindsof information for the work machine for the user to be able to see themachine status. The user interface may also help the user introubleshooting, e.g. when there is a machine malfunction. Controls forvarious parts of the work machine may be implemented on the userinterface through various user interface control elements, for examplefor extending the ground supports for the machine to stabilize themachine mechanically, or controlling the conveyor structure to be intransport position or in working position. Emergency stopping controlmay also be implemented on the user control interface.

FIG. 3b shows example control interfaces for controlling a work machineand initiating inter-working of work machines. The joining of a job mayhappen as follows as a user interface control sequence. In the firstphase 350 of receiving control input from the user to the work machine,the job to be carried out may be selected. Alternatively, a new job maybe defined. A selection control 355 on the user interface may be used toreceive the control input-to create a new work. The control input mayhave associated soft keys 352 (hardware input buttons associated withthe control elements 352 on the user interface), or a touch screen maybe used, where software buttons respond to touch directly. The workmachine control software may have different work configurationsdetermined and displayed by the software. The user may be able to createa new work configuration or select from the pre-existing workconfigurations, that is, the jobs that are currently being run by somework machine and whose job identifiers are being transmitted. There maybe a work configuration identifier, that is, a work identifierassociated with each work configuration. This work configurationidentifier may be such that it is the same at each work machine—that is,throughout the work machine system—so that the configuration of the workmachines may be understood later when efficiency data is being analysed.Alternatively or in addition, the work machine identifiers or workmachine types may be stored in association with the work machineconfiguration. This information may be sent to a central networkdatabase for associating efficiency data with a certain type of workmachine configuration, certain work machines, or certain work machinetypes.

In the second phase 360, the work site (work type) may be selected.These sites may be pre-created in the software by an operator, andstored for later use. There may be pre-created sites or work types 365in the system for the user to select from. A user with control rights,e.g. a site manager, may also create a new site, e.g. through a web userinterface. The pre-created sites may be such that they have anassociated work site identifier (e.g. 005 for tyre process and 024 forproperty management). Alternatively or in addition, description andinformation (like geographic coordinates of the site) may be stored forthe work site. Again, the work site information and identifier may besent to a central database in association with efficiency data collectedfor the work machines and the work process so that efficiency data forsimilar work at different places may be compared.

In the third phase 370, a work number may be selected. For example,different work numbers 375 may exist for material handling (004), areacleaning (005) and loading tyres (003). The purpose for selecting aspecific work number is to be able to associate the work machineefficiency data to the specific work that is being carried out, thematerial that has been processed and what settings have been used forprocessing the material, together with having the information that thework is carried out at a certain site and with a certain work machineconfiguration. This enables the comparison of work efficiency betweendifferent operators, different sites and different work machineconfigurations.

For the purpose of controlling the inter-working of work machines sothat efficiency data may be compared between different sites, thecontrol data described above and shown also on the user interface may bestored as a control data structure. Such control data structure may beembodied as a signal or as a structure on a non-transitory data carriercomprising the data structure for controlling work-machine inter-workingand/or a work machine database system, the data structure comprising aplurality of entries relating to a plurality of work machines, saidentries comprising efficiency data, machine identification information,user identification information and a job id as described earlier, theentries being configured to be suitable for producing efficiencyreporting data as output, the efficiency reporting data beingcharacteristic of efficiency of the user and/or the group of workmachines, and/or the work machine configuration.

The forming of the job identifier (job id) will be described next in thecontext of an example work machine configuration.

First, the user Sami (user id 123) starts a crane (work machine id 475),chooses a work site (site id 9 for company GREAT_FIRM) and work number(work number 4 for material handling). The job id can now be formed asID123-9-4*475. That is, the job id may be a string that containsidentifiers for the user, the site, the work type and the specific workmachine. The job id may comprise fewer identifiers than in this example,or more information (more identifiers) than in this example.

Next, the user Sami starts a shredder work machine (identifier 440D),and the system suggests that the shredder is joined to the work 9-4(GREAT_FIRM material handling). Sami then chooses the work 9-4 assuggested by the system, and selects the preset work machine setting 7(material type: tires). Now, the team job id will be ID123-9-4*475-440D.The total job id may not be visible to the user.

Then, Sami starts another shredder machine of type 440D, and again thesystem suggests joining the work 9-4 by showing the corresponding textdescription to the user. Sami chooses work 9-4, and the systemautomatically selects the preset 7 (material type tire), because the jobid carries the information that tires are being processed. The newshredder machine system enquires input from the user on the work machineconfiguration whether the new shredder will be added to the back or tothe front of the first shredder machine, in parallel, or not beconnected to the same material line. Sami chooses that the new shredderwill be in the front (the default suggestion was the back). Now, the newjob id becomes ID123-9-4*475-440D(2)-440D. Had the new shredder beenjoined to the back, the job id could have beenID123-9-4*475-440D-440D(2). Had the new shredder been added to the sidein parallel, the new job id could have been ID123-9-4*475-440D/440D(2),indicated for example by the slash. In this manner, all the machines forthe work are chosen, and their configuration (arrangement with respectto each other) is also chosen. This information may be carried in thejob id as described.

As described, the system will form a team of the machines joined to thesame work, and this team will share a job id. The job id is formed inthe machines, and sent between machines over a wireless connection, likea zigbee radio link. This formation and information content of the jobid data structure enables the above described comparisons of efficiency.If the user works with the same configuration on several days, the samejob id may be used. This makes it faster to start work in the morning,which increases efficiency.

When the work shift changes, the operator of the work machineconfiguration may transfer the work to another user who has joined thework, or simply signs out through the user interface, or by removing thecontrol key. If a new sign-in does not happen, the work with the firstuser id ends. If the work is transferred to a new user, the job id ismodified in all machines of the team accordingly. Another user may alsojoin the work that was created earlier.

The operator may have a key, e.g. a USB key or a radio interface keythat stores the user's identification, and possibly carries the rightsof the user, that is, indicates what operations the user is allowed tocontrol on the work machines. The key may also act as a security elementin such a manner that if the key is removed from a work machine and notconnected to another work machine of the team (the same job id) within atime limit, all the machines of the team are stopped. The key may alsoenable the user to take control of a configuration of work machines (ateam).

Different levels of authorization associated with the key may e.g. be“user”, “maintenance”, “factory” and “development”. For a user,operating basic user interface control screens, diagnostics,troubleshooting, operational model selection, language and displaysettings may be allowed. For a maintenance key, the additional allowedlevels may be software update, signing off maintenance jobs, viewingoperating hours, running oil pumping from screen for maintenance, anddisabling a sensor for a certain time like 2 weeks (to avoid unnecessaryalarms before the sensor can be changed). For a factory key, permanentlydisabling a sensor, setting basic configurations, serial numbers etc.may be allowed. For development keys, all changes may be allowed.

FIG. 4a shows a flow chart of a method for initiating inter-working ofwork machines according to an example embodiment. In phase 410, a firstcontrol input is received from a user to a first work machine, the firstcontrol input being suitable for starting the operation of said firstwork machine. For example, the control key of the machine may be enteredand the key may be read by the machine. In phase 420, the first workmachine may be started based on the first control input. This starts thework machine engine and allows operating the material processing meansof the work machine. In phase 430, a second control input may bereceived from a user, the second control input being suitable forselecting a current job for said first work machine, as has beendescribed earlier e.g. in the context of FIG. 3b . In phase 440, thecurrent job for said first work machine based on said second controlinput is selected. In phase 450, a job id may be transmitted tosurroundings of the first work machine for other work machines to use injoining to the current job, said job id corresponding to said currentjob selected for said first work machine. The job id may also betransmitted through a server or other network so that the job identifieris not transmitted directly to the other work machines. The job id maybe formed as described earlier.

As described, the first control input may be received by means of a key,the key carrying access rights to at least the first work machine suchthat operation of the first work machine can be started with the key.When the key is removed, a key removal control input may be receivedindicative that the key has been removed from the work machine. Based onthe key removal control input, a timer may be started in response. Theoperation of the first work machine may be shut down based on the timerreaching a predetermined value, and also/instead the transmitting of thejob id may then be stopped based on the timer reaching a predeterminedvalue. A joining indication may be received from a second work machinethat the second work machine has joined the current job, and the timermay be reset based on receiving the joining indication.

At the second work machine, the operation may happen as follows. A firstcontrol input is received from a user to a second work machine, thefirst control input being suitable for starting the operation of thesecond work machine. The second work machine may then be started basedon the first control input. A job id may be received from a first workmachine, the job id having been transmitted from the first work machine,or from the work machine where the user has previously been logged onto.That is, the job is may be transmitted by the machine where theoperator's key has last been inserted. The job id has been transmittedfor other work machines to use in joining to a current job of the firstwork machine, the job id corresponding to the current job selected forthe first work machine. A second control input may be received from auser, the second control input being suitable for selecting a currentjob for the second work machine, and the current job may then beselected for the second work machine based on the second control inputand the received job id.

When the second machine has joined the work, the job id may be modifiedas described above, and communicated from the second work machine to thefirst work machine, or vice versa, or formed separately in differentwork machines.

FIG. 4b shows a flow chart of a method for controlling work machinesaccording to an example embodiment. When a job has been selected (andthus a job id has been selected/formed) in phase 460, efficiency datarelated to the job id may be provided to a data system from workmachines having the same job id. For example, the efficiency data from awork machine or for the whole team of work machines may be sent by awork machine to a remote network database. Information on optimalinter-working situation of work machines based on said efficiency datamay then be formed using the data collected to the remote database. Thisforming of efficiency data in phase 470 descriptive of inter-working ofwork machines may be based on the job id, and, the efficiency datarelated to the job id may be displayed to the user with a comparison toan information on an optimal inter-working situation in phase 480. Basedon this, the machine may be controlled in an improved manner in phase490, and thus the improving of efficiency of operating the work machinesby the user may be enabled.

In phase 490, another work machine may also be controlled directly (withmachine-to-machine communication) based on the efficiency data toimprove inter-working of the work machines, the another work machinehaving the same job id. That is, for example, process parameters may beadjusted such as settings of material to be processed in the current jobat a current work machine, information on the adjusted processparameters may be sent to another work machine based on the another workmachine having the same job id, and then the process parameters at theother machine may be adjusted.

The methods and data structures described here may be realized with thehelp of computers, the computers having processors, memory and othercircuitry for processing and storing data, as well as input and outputdevices for receiving control input from the user and producing machineoperation data and information to the user. The methods may beimplemented in a distributed manner so that they are executed in morethan one apparatus on more than one processor. The various workmachines, control modules and server computers presented in thisapplication may have software and data structures for controlling theoperation of a work machine. As the methods may be implemented withsoftware, it is clear to a skilled person that not all of the presentedsteps need to be carried out, but some may be omitted, and theoperational sequence in which the different steps are carried may vary.Also, the individual steps may be carried out alone or they may becombined with other steps as the needs of the situation vary.

As said, the methods may be carried out with the help of computerprograms, and such programs may be embodied as computer program productsstored on a module, computer readable medium or even downloadable from aserver as a signal over the air. The computer program product maycomprise computer program code, the code being arranged to, when thecode is executed on a processor of a system, cause the system to carryout the method according to the above description. The computer programproduct may comprise the computer program code embodied on anon-transitory computer-readable medium such as CD or DVD data disc oron a transportable memory like a USB memory stick.

FIG. 5a shows an example setup of work machines for a landfill site.Most of the work machines 520, 530, 540, 550 may have an adapter,control unit 522, 532, 542, 552 and a communication module 524, 534,544, 554 that has been installed to the machine after manufacture. Thefirm facilities of a work site like a scale 510 may also have controlunit 512 and a communication module. Some work machines 560 may havebuilt-in control and communication modules. All the work machines areconnected to the network, or a cloud, over their respective dataconnections (marked with GPRS on the example setup of FIG. 5a ). In thecloud, the efficiency data is collected to a secure server, where it isfor creating the data structure needed to build reports. The reports maybe accessed and viewed over the internet using a web browser on aspecial monitor computer 570, common-purpose mobile communication device572 or a tablet computer 574.

FIG. 5b shows an example of indicating work machines working on the samejob. The different work machines 580, 585 and 588 have been linked tothe same job as described earlier, and they share the same job id. Forthe purpose of identifying which machines are working on which job, themachines may carry a visual indicator (an indicator lamp), sending forexample blue light. The control unit of the work machines may beconnected to the visual indicator, and the control unit and visualindicator are arranged to indicate visually the work machines having thesame job id by physical characteristics of the indication produced bythe visual indicator such as the color and/or blinking pattern of light.That means, for example, that once a work machine joins a certain job,it synchronizes itself to the other work machines and starts to emite.g. blue light in a certain common pattern characteristic for this job.

The various embodiments of the invention can be implemented with thehelp of computer program code that resides in a memory and causes therelevant apparatuses to carry out the invention. For example, a workmachine may comprise circuitry and electronics for handling, receivingand transmitting data, computer program code in a memory, and aprocessor that, when running the computer program code, causes the workmachine to carry out the features of an embodiment. Yet further, aserver may comprise circuitry and electronics for handling, receivingand transmitting data, computer program code in a memory, and aprocessor that, when running the computer program code, causes theserver to carry out the features of an embodiment. The computer programproduct may comprise computer program code embodied on a non-transitorycomputer-readable medium, and the computer program code may then beloaded onto the work machine memory for execution.

The various work machines operate in a chain. The work machines areinterlinked with each other. For example, changing operationalparameters at one work machine has an effect on operational parametersof other interlinked work machines. A machine is able to inform anearlier machine in the chain how much the machine is able to acceptinput from the earlier machine, and/or whether the earlier machine shallchange operational parameters relating to the input. A machine is ableto inform the next machine in the chain how much and what kind of outputthe work machine produces to the next machine. Since the information maybe shared with the earlier and/or next machines in the chain,operational parameters of the machines next to each other may be matchedto get the best possible performance for the chain of machines. Ifoperational parameters are not interlinked between the machines, or arechosen wrong, the output efficiency of the whole system suffers.Accurate, current, temporary information on various work machinesworking on the same job may be provided. This may enable following up,controlling and adjusting the work process, or the job, efficiently.

FIG. 6 shows a flow chart of a method for controlling work machines in ajob. According to the method, a user starts a first work machine of awork process 601. Starting means that a first control input is receivedfrom a user to a first work machine, wherein the first control input iscapable of starting the operation of said first work machine. Forexample, the control key of the machine may be entered and the key maybe read by the machine. The user is for example M. User and he has auser identifier of ID123. The user may join a job by forming a jobidentifier 602 comprising used identifier (ID123) and work identifier.The work identifier may comprise a code or an integer indicating theselected work. The work identifier may indicate for example woodprocessing, tire processing, or some other work. The job identifier 603may further comprise a machine identifier.

In an embodiment, the user may start a crane, which has a work machineidentifier of 475. Then the user may choose a work site and a worknumber. The work site has a site identifier 9 and a work number has anidentifier 4, which corresponds to material handling. Based on userselections, an identifier for the started job, a job id, is formed 602.The job identifier, job id, as formed based on the pervious exampleinformation may be ID123,9,4*475. According to embodiments, the jobidentifier is a string that comprises identifiers for the user and thejob. In addition the job identifier may comprise work machineidentifier. Further the job identifier may comprise the site, the worktype, for example. The job identifier may comprise different number ofidentifiers, and/or more or less information (identifiers) than in theprevious example.

The first machine starts sending an enquiry message 603 after the jobidentifier has been formed. The enquiry message comprises senderidentifying formation and the formed job identifier. The first machinesends the enquiry message 603 on certain time intervals. The enquirymessage 603 may be sent via local network, internet, or any wirelessconnection, such as Zigbee. Work machines on the message reach area, forexample radio range, may read the enquiry message 603. A second machinemay receive the enquiry message 603. If the second machine wants to jointo the job, it may respond by sending a response message to the enquirymessage 603. The first started work machine starts a job, to which otherwork machines may join. The enquiry message provides a permission forother machines to send a corresponding request message for joining tothe job. Receiving an enquiry message is a pre-requirement for a machineto join to a job. The system may enable work machines to join and leaveto/from the work process, i.e. the job. The system enables the job andthe work machines of it to be controlled and adjusted via messages sentbetween the work machines.

Next, the user M. User starts a second machine 604. As in case of thefirst machine, the user inputs control input, which is received by thesecond machine and capable of starting operation of the second machine.The second machine is for example a shredder work machine, which has anidentifier 440D, Since the first machine is sending the enquiry message603, the started second machine receives the enquiry message 605. Basedon the received enquiry message, the user of the second machine choosesto join the second machine to the current job. The second machineupdates the job id received in the enquiry message 606. The user M. Userchooses the work 9-4 as suggested by the system according to thereceived enquiry message, and selects the preset work machine settingidentifier 7, which corresponds to material type of tires. The secondmachine updates the received job identifier by adding informationrelating to the second machine to the existing job identifier.Information relating to the second machine is in this example the secondmachine identifier, being 440D. The updated job identifier, job id, maybe ID123,9,4,7*475-440D. The updated job identifier comprisesinformation on the user(s), work site, work type, work machines joinedto the job and their configuration. The updated job identifier iscommunicated to the network 607. The updated job identifier is sent bythe second machine via a message. The message determines receiver of themessage, being the first machine. Thus the first machine, sending theenquiry message knows that the message is directed to it.

The first machine, which has sent the enquiry message 603, receives theupdated job identifier sent by the second machine 607. The first machineis determined as a receiver in the message comprising the updated jobidentifier. The first machine may check the received message, and theupdated job id. The first machine may check that the received message isin a correct form. For example, the first machine may check and/orcompare certain fields and decide based on a check and/or comparison,whether the received message for joining to the job is acceptable. Oneor more fields or parts of fields of a received message may be checked,for example a receiver field, a content field, a checksum, a job idand/or a receiver. The system configuration may be arranged to acceptcertain type of messages and/or check certain field(s) or data. If it isdetermined to be acceptable for the second machine to join to the job,the first machine sends an acceptance message. Receiver of theacceptance message is determined in a receiver field of the acceptancemessage, being the second machine. The second machine receives theacceptance message 608 from the first machine. The first machine sendsthe updated job id comprising information of the newly joined secondmachine to the network. The send message is attainable and receivable byall the machines of the job. Now the first and the second machine, aswell as all machines joined to the job, share the updated job id.

Then, the user M. User starts another shredder machine of type 440D in asimilar way that described with the previous shedder machine. The phases604-608 of the FIG. 6 are repeated. The started another shredded machineis able to receive an enquiry message from the first machine (605). Theenquiry message comprises the job identifier, which is now the currentjob id, which has been updated by the second machine. Accordingly,system suggests joining the work 9-4 by showing the corresponding textdescription to the user. When selecting to join to the work, the jobidentifier is updated accordingly (606). The user chooses work 9-4, andthe system automatically selects the preset 7 (material type tire),because the job identifier carries the information that tires are beingprocessed. The new shredder machine system enquires input from the useron the work machine configuration. The work machine configurationcomprises information on whether the new shredder will be added to theback or to the front of the first shredder machine, in parallel, or notbe connected to the same material line. The default may be to configurethe work machines such that the later started is situated to the back,after the first started machine. The user may choose that the laterstarted another shredder will be in the front, before the first startedshredder machine. In this case the new updated job identifier becomesID123,9,4,7*475-440D(2)-440D. Had the new shredder been joined to theback, the job identifier could have been ID123,9,4,7*475-440D-440D(2).Had the new shredder been added to the side in parallel, the new jobidentifier could have been ID123,9,4,7*475-440D/440D(2). Order of themachines in the job identifier corresponds to the order of the machinesin the work site. Configuration of the machines in relation to eachother is indicated by pre-determined signs. Parallel machines may beindicated for example by a slash mark in the job identifier. The updatedjob id is sent by the new shredder machine to the sender of the enquirymessage (607), which is the first machine here. After the new shreddermachine receives the acceptance message (608) from the first machine, ithas been accepted to the job. The first machine transmits the updatedjob id to all machines of the job. The messages are transmitted via airand attainable by the machines. The three machines share the latest(current) job id. Correspondingly, following the phases 604-608 of theFIG. 6, all the machines, which are to be interlinked to join the commonwork process, are chosen, and their configuration, or arrangement withrespect to each other, is chosen. This information may be carried in thejob identifier as described.

As an example embodiment, a job identifier may comprise main useridentifier ID123, work site identifier 9, work number 4 and a work modeidentifier 7, relating to worked material, for example. In case ofseveral users, the first joined user may be considered a main user.There may be a first entity in the chain, participating to theidentified job, comprising entity identifier LT475 and being used byanother user, identified by ID6529. The second entity of the chain,participating to the identified job, is arranged next to the firstentity, in series with it, and comprises entity identifier BT1234. Athird entity of the chain is arranged parallel with the second entityand comprises entity identifier BT5678. The fourth entity is arrangednext to the third entity and comprises an entity identifier LT0944. Thefifth entity participating to the identified job comprises an entityidentifier LT2200. The fifth entity is arranged to situate out of theentity line of the other entities. The job id that the entities sharemay be ID123,9,4,7-LT475(ID6529)-BT1234/BT5678-LT09441T2200. Differentkind of marks and signs may be used. The job id may comprise a workidentifier and a user identifier. The job id may further identify atleast one of some details of the job, another user, the entitiesparticipating to the job or the work process and arrangement of theentities in relation to each other.

In an embodiment, at least one of the machines may be started and usedor operated by another user. For example a job may contain one or morewheel loaders operated by user(s) different from the M. User asdescribed in the previous. The user identifier, user id, for each userrelated (participating) to the job is indicated in the job identifier.The user identifier(s) are associated with the corresponding machineinformation so that the job identifier clearly indicates the user(s) ofthe machines. For example, a user of a machine, which is different fromthe main user identified in the job identifier, is indicated inconnection with the machine. Where the main user has started severalmachines, as M. User in the previous, the main user need not beindicated with each machine separately, The main user is a default, ifnothing else is indicated. Possible other user(s) are indicated with thecorresponding machines.

As described with the FIG. 6, the work machines are interlinked witheach other to join the same work process. The work machines sharing thework process share a job identifier. The job identifier is formed in themachine joining to the work process, and transmitted to the otherinterlinked machines. All machines share the job identifier and haveinformation of the job identifier, for example on the job they all havejoined and/or on other machines and their configuration. The jobidentifier is communicated via messaging system back and forth betweenthe work machines, carried in the machine to machine messages.

A work machine according to embodiments is able to send and receivemessages. The work machine is arranged to share information viamessages. FIG. 7 shows a message according to an embodiment. The messagemay comprise fields indicating a start of a message 701 and an end of amessage 706. The start and end of the message may be indicated usingcertain mark or sign, for example $ and *. A receiver of the messagerecognizes start and end of a received message via the correspondingmessage fields 701, 706. The message comprises a field indicating asender machine 702 of the message. The message comprises a fieldindicating a receiver machine 703 of the message. The sender machinefield 702 and/or the receiver machine field 703 may comprise anidentifier of the corresponding machine. A message may be sent to one ormore receivers indicated in the receiver machine field 703. According toan embodiment, all interlinked machines working on a same process, i.e.sharing a job and a job id, may read all messages relating to the job.The message further comprises a content field 705. The content field 705comprises information content, for example a job identifier. The contentfield 705 may comprise different kinds of information depending on themessage and purpose of it. The content field 705 may comprise a jobidentifier. The content field 705 of the message may comprise a messagetype, which identifies, what kind of information is sent. The messagetype may indicate that the message carries graphical data, workinformation, alarm information, machine model, machine controlinformation, information on joining a job, information on transferring ajob, information on starting communication, information on changing workmode or information on leaving a job, or exiting it. The message typecomprises an integer identifying the type of the message. The receiveris able to recognize the type of received data based on the message typeindicator in the content field 705. The message type is followed by moredetailed information of the message type in question. The informationcontent of the message type may be presented in parenthesis after themessage type. The message type may be indicated using a pre-determinedinteger, for example. A role of the sender machine is indicated in themessage field 704. For example, the role may be identified to be a slavemachine. Further, a communication system according to embodimentscomprises two different kind of master roles. The roles are discussed inmore detail in the following.

A job may comprise an operation master. One machine joined in the jobhas a role of an operation master. The operation master role includesconfiguring how the machines of the job are linked to each other andwhat is the order between the machines. The operation master sharesinformation and is able to control machines of the job and operationalparameters of those. When a user starts a first machine, the user mayuse a key, for example a universal serial bus (usb) key or a radiointerface key. The key may comprise user's identification, and possiblyrights of the user. The key may indicate what operations the user isallowed to control relating to a certain job or to certain workmachine(s). The first machine, into which the user has entered andstarted using the key, becomes an operation master in the chain of theinterlinked machines sharing a job. The operation master is a machine,which has been physically started by the main user and which is operableby the main user. The operation master may be the first physicallystarted machine in the chain of machines, or it may be replaced by someof the latter physically started machine(s). The operation master is thework machine, to which the main user has last started and/or logged in.The main user may be the user who has first logged in the job and/orstarted a first machined of the job. The operation master may be forexample a load wheeler, which the main user is using during the job.Operation master may be used to follow up the work process by the mainuser. The operation master may display information on the work process.The main user of the operation master machine may follow up, check andadapt the work process and parameters of it. For example, the operationmaster may be used to read and offset alarms throughout the chain of themachines. The operation master sees and is able to control all machinesin the job. The operation master role may be transferred to anothermachine. If another user has joined the job as a user of a machinejoined to the job, it is possible to transfer the operation master roleto the machine used by the other user. An another machine may become anoperation master of the job, if this transfer of the operation masterrole is allowed by the current operation master. Thus the role ofoperation master is transferred to another machine having a new user.After this, if the new user starts a second machine and uses it, thesecond machine becomes an operation master. The operation master mayensure that the machines of the job are operational. If the same userstarts more than one of the machines interlinked in the same job, theoperation master may be selected to be the machine, which was laststarted (and logged in) by the user. The operation master may be theentity used by the main user.

User keys may comprise user rights. The user rights may determine, whatkind of settings and/or parameters of a machine the user may change.Different user rights, or levels of authorization associated with thekey, may be for example “user”, “maintenance”, “factory” and“development”, from lowest to the highest rights. For a user, operatingbasic user interface control screens, diagnostics, troubleshooting,operational model selection, language and display settings may beallowed. For a maintenance key, the additional allowed levels may besoftware update, signing off maintenance jobs, viewing operating hours,running oil pumping from screen for maintenance, and disabling a sensorfor a certain time like 2 weeks (to avoid unnecessary alarms before thesensor can be changed). For a factory key, permanently disabling asensor, setting basic configurations, serial numbers etc. may beallowed. For development keys, all changes including creating new items,may be allowed.

In addition to the operation master the chain of the interlinked workmachines sharing the job identifier comprise a communication master. Thecommunication master may be different machine than the operation masterof the job. A machine having a role as a communication master isselected based on priority, which may be based on priority list.Priority may be given based on machine type. The priority may be givento a machine, which is always present in the job. It may be a machinethat is necessarily part of the job. If there are optional machines,which may join the work process, but are not necessary for the workprocess to continue, such optional machines are not given priority forthe role of communication master. The communication master is kept asstable as possible. Preferably the role is not changed during the workprocess. If the work process comprises two same type of machines, one ofwhich may become a communication master, the communication is selectedbased on the smallest serial number. For example, wheel loader is notselected or given priority as a communication master, since its workingarea may be wide. It may go far from the other work machines of the jobto get material to be processed. Thus the wheel loader may gotemporarily be away of reach of the messaging system. The messagingsystem may comprise reach area of for example 100 meters, or less than50 meters. However, the operational range of a used messaging systemand/or wireless connection may vary. In an example, the wheel loader mayhave a role of an operation master, but not a role of a communicationmaster. Rather, the communication master may be selected from the workmachines operating in rather stable places in the chain. For example,the communication master may always be at the operational range of themessaging system. It is possible that the wheel loader has role of acommunication master and/or one machine comprises roles of an operationmaster and the communication master. The communication master machine isarranged to control the work process. The communication master is awareof status of the process and all the messages sent. It knows the lastsender of the messages and the current sender. Time slots for sendingmessages are adapted according to work machines and amount of those.Allocation and structure of the time slots is not constant.

A role of the sender machine is indicated in the message field 704. Therole may be an operation master machine, a slave machine, an operationmaster being a communication master, or a slave machine being acommunication master. The role defines role of the machine in the workprocess.

A messaging system is described next. A work machine of the job is givena turn to send a message. Each work machine of the job may be given aturn to send a message, or a communication turn. The communication turnsmay be implemented successively, one machine after the other, onemachine in turn. A communication cycle, in which each machine of the jobis able to send their message(s), may last for example few seconds, forexample 2-3 seconds, or for example 1 second. The time of thecommunication cycle may depend on sent messages, message sizes andnumber of messages sent on the communication cycle. Size and number ofsend by one machine may vary. The communication master determines whichmessages are to be sent, in which order, by which machines. Thecommunication master indicates communication turns for the machines ofthe job for sending messages. Each machine may see any message sent by amachine of the job. The message comprises a field indicating a receiver,which may be one or more machines of the job. The receiver(s) then knowwhich messages are sent for those and receive the message. Thecommunication master is arranged to give turns to all machines of thejob. The communication master may give communication turns in the samearrangement of the machines as indicated in the job id. Alternatively,the communication master may give communication turns in an orderreverse of the machines as indicated in the job id. In cases, where theorder of machines in the job id relates to the order of thecommunication turns, the machines are aware of the communication orderand communication turns of each other. In alternative, machines of thejob may have certain priority order according to which the communicationmaster gives the communication turns. A case may be that a machine mayrequest for priority or the communication master may receive indicationbased on which it gives priority to certain machine. For example amachine sending an alarm message or an alarm message relating to certainproperty may be given priority when sharing communication turns. Thusorder of the machines in the communication cycle may be dynamicallyadjusted, or variable. In practice the communication cycle is fast, soin many implementations simple sequential turns, for example accordingto job id, may be employed.

A machine being given a communication turn may not send anything. Acommunication turn given to the machine is maintained for a certainpredetermined time, like less than a second, for example 500 ms. Ifnothing is sent, after the predetermined waiting time has passed, thecommunication master gives the turn to a next sender. In certain cycle,for example on every fifth communication cycle, each machine sends amachine type message. The machine type message may comprise informationon type of the machine, like manufacturer identifier, machine model,machine type identifier and user identifier. The user identifieridentifies the user who is connected to the machine, if any. The machinemodel messages works as heat beat messages, which provide informationthat the machine sending the message is in an operational state. Themachine type message sent by the operation master comprises informationon control of the lights of the machines. The lights of the machines inthe same job are synchronized accordingly and the light pattern ischosen by the operation master.

The communication master may send an enquiry message, which contains thecurrent job identifier. The enquiry message enables a receiver machineto join to the current job. The receiver machine joining the jobmodifies the job identifier received in the enquiry message. Thereceiver machine may add its machine specific information to the jobidentifier. In addition to the machine specific information, place ofthe machine in relation to the other machines of the same job may beindicated. A user identifier may be part of the machine information, ifdifferent from the main user already joined the job and identified inthe job identifier. The modified job identifier is sent back to thecommunication master. The communication master may check that thereceived message is acceptable before accepting the message.Alternatively or in addition, the communication master may check thatthe machine sending the message containing a modified job identifier, isacceptable for joining the job. After the communication master hasreceived the modified job and accepted it, it sends an acceptancemessage to the machine, which send the modified job identifier. Theacceptance message indicates that the work machine has been accepted tothe job. The machine has joined the job. After this all machines of thejob receive and share the modified job identifier.

The communication master sends in its communication turn a work message,which comprises information of the current job. Each machine of the jobreceives this message and stores the job identifier. The job identifiermay comprise a main user identifier and a work identifier. The job idmay further comprise at least one of a machine identifier, work siteidentifier, work mode, the identifiers of the machines of the job, theirmutual order, and user information, where different from the main userindicated already in the job identifier. In case of more than onemachines, a common job identifier may indicate configuration of themachines of the job. For example, whether the machines are next to eachother and/or work in parallel and/or are out of the working line and soon. Via this information all the machines know their mutual order in thework process. After a new work machine has joined to the process, allthe machines of the job receive the modified, updated job identifier viaa job identifier sent in a message by the communication master machine.

The communication master is arranged to share communication turn forother machines to send messages. The communication master may send amessage, which indicates that the receiver, as identifier in thereceiver field of the message, has a communication turn and may startsending message(s) accordingly. This way, the receiver gets anindication that it is given a communication turn, and the other machinessee the message and know that they are not allowed to transmit. Themessage content field comprises a message type, which is indicated by aninteger, the identifier of the receiver machine and its place in thechain of machines. The message type indicates that the message is forgiving a communication turn. When a machine receives this message, itmay start sending message(s). If more than one messages are sent duringthe communication turn, the machine sends as a last message a messageindicating end of the communication turn. The communication master andother machines then know that the communication turn may be shifted tothe next machine. The communication turns may be given according toorder of the machine identifiers in the job identifier.

A machine may send an alarm message. In case a machine has an alarm, forexample relating to it lacking oil, having values beyond thresholdvalues, like temperature or oil pressure, or alike relating to itsoperation, it may send an alarm message. The message comprises in thecontent field a message type so that receiver(s) are able to recognizetype of the message. Further the content field of the message comprisesone or more alarms, which are indicated via identifier numbers and somefurther information relating to it, for example a value. The identifiernumbers of alarms are listed in the machine specific file. The textinformation from the file is presented according to language settings,which are set and selected by the operation master. Only operationmaster machine can set off alarms. The alarm(s) may be set off by aresponse message. One response message may be used to set off one ormore of the alarms in one alarm message.

A machine may send a control message to a machine next to it. Forexample, the control message may be sent to the previous machine in thechain. The previous machine in the chain receiving the message mayadjust its performance according to the received control message. Themachine receiving a control message from a machine next to it, maychoose to act, for example adjust its parameters, based on it. Thereceiving machine may choose not to act based on the received controlmessage. The operation master may enforce changes and/or settings of theother machines. The machines other than the operation master may sendcontrol messages, but may not be able to force the other machines toadapt or act based on the control message(s). The content field of thecontrol message comprises identifier of the message type and for examplea value. The value may be between 0 and 100, relating to speed of theautomatic drive of the work process. Value 100 means automatic drivewith full speed, while value 0 means stopping the automatic drive. Value85 means automatic drive with 85% of the maximum full speed. There maybe one or more values to be adjusted. For example, the machine may notbe able to process all the input from the previous machine. Then thecontrol message instructs the previous machine to slow down accordingly.The machine receiving a slow down instruction from the next machine inthe chain, may send similar control message to the machine preceding itin the work chain. This enables controlling the whole process viamessages. User input may thus not be necessary, but may be avoided or atleast cut down.

A slave machine may send a message requesting change of work mode.Content of the message comprises message identifier (integer) andidentifier for the work mode to be changed. The message identifierindicates what kind of message is in question and/or indicates where thefollowing parameters relate. For example, a wheel loader may change theplace, where it gets material for the work process, and/or the materialtype it brings to be processed.

A slave machine may send a log out message. It is sent to inform thatthe machine is exiting the current job. Only a slave machine may leaveor exit the job by sending the log out message. The communication mastermodifies the job id accordingly, by deleting information of the leavingmachine and modifying construction of the machines without the leavingmachine. A kind of reduced job id is formed as the current job id. Thecommunication master sends the modified job identifier. The othermachines may be arranged to slow down, and/or stop working in responseto seeing a log out message. In an embodiment, the communication mastersends the updated job identifier message, according to which themachines are arranged to start over or speed up the work process withoutthe logged out machine. In case one of two parallel machines leaves thejob, the other work machines may slow down. The process maybe furtheradjusted via control messages sent by other messages to their neighbormessages. In case the only wheel loader leaves the job, the process isstopped by all machines, until a new wheel loader joins and startsproviding material to the work process.

A work machine may be transferred to another user. In this case atransfer request message is sent. The main user, for example ID123 inthe previous, may send the transfer request message. The transferrequest message comprises in the content field identifier of the messagetype, identifier of the work to be transferred, which is the useridentifier, and identifier of the work to which the work is to betransferred. The latter is the receiver of the message indicated in thereceiver field. Thus the receiver, to which the work is transferred to,has joined the job and is part of the interlinked work process. If thereceiver accepts the transfer, the transfer is done. The receiverupdates the job identifier so that receiver work identifier replaces theearlier work identifier, which is thereby removed. The modified jobidentifier is sent and communicate to the other machines in the job. Itbecomes the new job identifier of the job. If the machine requesting thetransfer was the communication master, also this role is transferred tothe other machine. The new communication master starts to work accordingto its new role and controls the work process. The transfer requestmessage may be sent for example when a work shift ends or changes. Theoperator (user) of the work machine may transfer the work to anotheruser who has joined the work. A slave machine may simply log off andexit through the user interface, or by removing the control key.Corresponding log off message may be sent. A new machine or a user withthe previously logged off machine may join to the job to replace theslave machine that has been logged off. If a new sign-in does nothappen, the work with the first user id ends. In either case, the job idis modified in all machines of the job accordingly. The communicationmaster may modify and/or update and/or transmit the job identifier.

If the user(s) work with the same configuration on several days, thesame job id may be used again. This makes it easy and handy to start thework.

The key may also act as a security element in such a manner that if thekey is removed from a work machine and not connected to another workmachine of the work process (sharing the same job id) within a timelimit, all the machines of the chain are stopped. The key may alsoenable the user to take control of a configuration of work machines ofthe job.

A message content relating to graphical data may be identified by theinteger 1. Graphical data provides information for graphical display.The graphical display may show illustration of the received informationin one or more of the work machines in the chain, and/or in a maindisplay, which may be remote from the work machines. The graphicaldisplay may illustrate constantly updating view of information providedfrom the work machine(s). The graphical display is able to showdifferent kind of data, so graphic identifier is put in a message inorder to identify the graphics, for which the following values are to beutilized. The graphic identifier may be for example 58 for x-directionand 59 for y-direction, and the identifiers are chosen from a real timetable, which may be used by the machines. The real time table andinformation of it, may be stored in machines, or in at least one machineor in a remote data storage, which is attainable and/or readable by themachines of the job. After the identifier, a value is provided. Thevalue is for example 1.20 for x-direction and 1.00 for y-direction. Inan embodiment values are provided in SI-units, and converted in areceiving end, where necessary. Then a scale is provided, for example0-100 for x-direction and 1-60 for y-direction. In addition unit may beprovided, where needed. The unit may be for example t/h for x-directionand l/h for y-direction. Based on the previous example, the messagecontent is 1[58, 1.20, 0, 100, t/h][59, 1.00, 0, 60, l/h]. The messagecontent may comprise information on multiple graphs. For exampleinformation for updating four graphs may be provided in one messagecontent. The message may be send constantly on short intervals, forexample once a second or every two seconds. Thus the receiving graphicscontroller or screen driver is able to currently update the displayedgraph accordingly. The operator is able to follow up the graph(s),monitor efficiency of the work process, control operating parameters ofthe work machines and adjust the work process.

Graphical data related to the job id may be provided to a data systemfrom work machines having the same job id. For example, the graphicaldata from a work machine or for the whole chain of work machines may besent by a work machine to a remote network database. Information onstatus and inter-working situation of work machines may then be formedusing the data collected to the remote database. The graphical datapresented may be based on the job id. For example efficiency datarelated to the job id may be displayed to the user with a comparison toan information on an optimal inter-working situation. Based on this, themachine(s) may be controlled, thus improving efficiency of operating thework machines by the user.

FIG. 8 shows a flow chart of messaging according to an embodiment. Oneentity of the FIG. 8 is a communication master machine 800, and theother entity is a slave machine 801. The communication master machinecreates a job id and sends it to a local network. The communicationmaster machine 800 sends an enquiry message for other machines to jointo the job with it. The message is in the air, readable by a receiver inthe area of the network and able to read and receive such message(s).The message is received by the slave machine 801. The slave machine 801wishing to join the job identified in the enquiry message of thecommunication master machine 800 takes the content part of the message,which comprises job id. The slave machine 801 modifies the job id suchthat it adds its machine specific information to the existinginformation of the job id. Then the slave machine 801 sends a messagecomprising the modified job id in the content field to the communicationmaster machine 800. The communication master machine 800 receives themessage containing the modified job id. It accepts the slave machine 801to the job. The communication master device 800 takes the modified jobid as a new common job id and sends an acceptance message to the slavemachine 801. After this the communication master machine 800 transmitsthe updated job id. The communication master machine may send an enquirymessage comprising the modified job id. Other machines may joinsimilarly. All the machines of the job receive message with currentlyupdated job id from the communication master machine 800. If a slavemachine 801 wishes to leave or exit the job, it sends a leave the jobmessage to the communication master machine 800. The slave machine 801may just leave after sending the message without waiting for anyacknowledgement and/or permission. The communication master 800 updatesthe job id. The information relating to the slave machine 801, which hasinformed to leave or exit the job, is removed from the job id. Relationbetween the remaining machines of the job is updated accordingly. Theupdated job id is transmitted by the communication master machine 800.The communication master machine may send an enquiry message, which nowcomprises the updated job id.

FIG. 9 shows a flow chart of messaging according to an embodiment. Acommunication master has started a job and entity1 has joined to thejob. This may correspond to the joining as presented with the FIG. 8.The communication master transmits an enquiry message. The enquirymessage is readably and receivable by a machine in the messaging rangeor coverage area. entity2 receives the enquiry message sent by thecommunication master. Entity2 modifies the job id of the enquirymessage. Entity2 adds information relating to it to the job id. Entity2sends a message comprising the modified job id to the communicationmaster. The communication master may check that the received messageand/or the sending entity2 is acceptable. If the sending entity and/orthe received message is acceptable, the communication master sends anaccept message to the entity2. The entity2 has been accepted to the job,information on it has been updated to the job id and the communicationmaster transmits the modified job id. The message comprising themodified job id is received by all machines of the job. Now thecommunication master, entity1 and entity2 all share the common modifiedjob id. The communication master transmits an enquiry message, which nowcomprises the modified job id.

The communication master is arranged to give communication turns to theentities joined to the job. The communication master sends acommunication turn message to the entity1, and thereby gives a turn tocommunicate to the entity1. The entity1 sends a machine type message.The machine type message may comprise information on machine type,manufacturer, model, type and/or main user. The machine type messageworks as a heat beat message, which when received by the communicationmaster carries the information that the sender entity is operationaland/or functional. This enables the communication master to haveknowledge on status of the sending entity. The entities may send amachine type message constantly on certain communication turns, forexample every fifth communication turn.

This may be send as a sole message of the communication turn, or inaddition to other messages sent in one communication turn.

The communication master sends a communication turn message to theentity2. The entity2 is thereby given a turn to communicate. The otherentities know not to communicate. The entity2 sends a control message tothe Entity2. The control message may comprise a variable or a factorrelating to a parameter of the sending entity. The receiving entity mayadjust its operation based on the received control message. The controlmessage sent by the entity 2 in the FIG. 9 may contain for example value50. The entity 1 after receiving the control message knows that itshould reduce to half speed in order to comply with the entity2. Theentity1 may choose to reduce to half speed. In the next communicationturn the entity1 may send a corresponding control message to thecommunication master. The entity1 receiving the control message may notchange its operation. In any case of incompatibility of entities or thejob, an operation master has control of the operation of the entitiesand may change the operation. The operation master may be for exampleentity2, if last logged in by the main user, as described in moredetails in previous.

The communication master transmits an enquiry message. The communicationmaster sends a communication turn message to the entity1. The entity1sends an alarm message to the communication master. The alarm messagemay contain alarming information relating to entity parameter, forexample temperature information. The entity1 sends another messagecomprising information for graphical data. The graphical data message issent to the operation master, which is in this example the entity2. Aninformation may be displayed accordingly in a display of the operationmaster. The main user of the entity2, or the operation master entity,may get updated information on the entities of the job. The informationmay be presented as chosen, in accordance to the graphical datainformation sent by the entities joined to the job. After the twomessages, the entity1 sends an message indicating end of messages. Thusit lets the communication master know that its communication turn isover and a turn may be given to next entity.

The communication master sends an enquiry message for possible newentities joining to the job. The communication master sends a controlmessage. Control message sent by the communication master may comprise alight pattern information. The control message form the communicationmaster is sent to all entities joined to the job. All the entities ofthe job receive the light pattern information. Lights of the entitiesare arranged to blink and/or be turned on/off in a manner as instructedin the light pattern information. After entities have received a controlmessage from the communication master, they all implement similar lightpatterns via their lights. Thus the entities of the job have an externalfeature they share, and may be recognized via it. This may providesafety to the environment.

The communication master gives a communication turn by sending thecorresponding message to the entity2. The entity2 sends a request forchanging a work mode message. The request for changing a work modemessage may comprise for example information from a wheel loader that itwill change place, where it gets material. This may cause longertransportation time of the material, for example. In this case, theother entities receiving the request may slow down their operation speedcorrespondingly. The request for changing a work mode may compriseinformation on changing previously used material to another material.This may cause other entities to change their work mode, and/oroperational parameters accordingly. Also, this may cause some existingentity becoming useless for changed conditions.

The control of a work process is implemented via a messaging system. Themessaging system enables the machines of the common work process tocommunicate via messaging. The messaging enables fast and efficientinformation sharing. This may enhance the work process efficiency. Themachines communicate constantly, so information is constantly shared.Possible adjustments of the work process or operational parameters maybe implemented as a response to the corresponding message. This avoidsfollowing up results and deciding on possible adjustments based on workproduct or collected and displayed data.

The messages according to embodiments may comprise a checksum. Thisenables protecting the messages and avoiding processing false messages.The checksum is checked after a message is received. If it matches withthe predetermined, the message is received and processed accordingly, Ifthe checksum does not match, then the message is simply rejected.

The messaging system according to embodiments provides effectiveness tothe work process and control of it. Messages are sent asynchronously.Work machines of the job are given a slot to transmit their messages. Asingle message is kept relatively short. Short messages pose lessrequirements for the network. The whole messaging system is kept simple.If there are small losses on a field of a sent message, it may not ruinthe whole message. On the other hand, if a message is lost, the constantsending cycle of the machines enables the message to be send again onthe next turn. Thus the message may be slightly delayed. In contrastsending acknowledgement message for each received message would causemore delays to the whole messaging system. Complex correction checksand/or corresponding resending of messages is avoided. This makes thesystem easy and error-free.

Each work machine of the job is given a turn to send a message. A singlemessage is short, enabling limited amount of data to be sent. Messageshave certain maximum size, for example 128 bytes. A send message may beshorter than the maximum size of the message. This enables effective useof the bandwidth. The network is not transmitting the same sizedmessages, but where useful, a shorter message requiring less bandwidthis transmitted. In order to enable more information to be sent, amachine has possibility to send multiple messages in its turn. Themachine may communicate all available and/or relevant issues in its turnby sending several messages. After sending more than one messages, themachine sends a message indicating end of communication turn. Themessaging system is flexible to transmit shorter messages and/ormultiple sequential messages from the same origin. The messaging systemenables fast communication between the machines of the work process.There are no constant times for the messaging turns, but the time isallocated and used according to current need.

Embodiments may enable controlling working machines. Machines of a workprocess may communicate via messages. A message may comprise a jobidentifier, which indicates working relationship among machines of thejob. A message, or a job identifier, may be modified by a machinejoining to the job. The machines joined in the same job share a commonjob identifier. A modifiable job identifier enables to share, amongmachines of the job, information of the work process and/or machinesworking in it and/or placement of the machines in relation to eachother. A working process comprising different working machines and/ordifferent placement of working machines and/or moving working machinesmay be controlled via a messaging system. The machines of the job areaware and know the current job identifier. Thus the machines of the jobknow their position in view of other machines and are for example ableto send messages to each other in order to adjust the process and/oranother machine based on their parameters and/or working status.

A messaging system according to embodiments may enable controlling workprocess entities with reduced user interaction. A communication masterof the messaging system may share communication turns and overview thejob process. The communication master may accept a new entity to theprocess. Entities of the messaging system may communicate straight toeach other. This entity-entity-messaging may enable fast and effectiveinformation sharing, straight to the correct receiver. Message sizes andcontents may vary. Acknowledgement messages are not send for eachmessage by default. Adjusting message size and avoiding additionalmessages, like acknowledgement messages, enables effective communicationsystem which is adjustable according to current situation.

Although the previous description mainly shows work machines, manydifferent kind of entities are suitable to be controlled according toembodiments, for example using a messaging system. Thus other entitiesfall into the scope and spirit of the appended claims.

The above example embodiments of the invention are not to be understoodas limiting the invention thereto. On the contrary, the invention can bevaried within the scope of the appended claims.

The invention claimed is:
 1. A method for managing waste processing workmachines that includes a sending work machine and a receiving workmachine, the receiving work machine including a processor connected to acommunication module, the processor configured to execute non-transitorymachine readable instructions, wherein the method comprises: executionof the non-transitory machine readable instructions by the processor tocause the receiving work machine to: receive, using the communicationmodule, a first message from the sending work machine, said firstmessage comprising message fields, detect at least one message field ofthe message fields of the first message, the detected at least onemessage field including information on other waste processing workmachines already joined in a job and a job identifier (job-id); form atleast one modified message field to update the job identifier to includeinformation of the receiving work machine and a placement of thereceiving work machine in relation to the other waste processing workmachines already joined in the job, transmit using the communicationmodule, the updated job identifier in a response message sent from saidreceiving work machine to said sending work machine, wherein each of theother waste processing work machines already joined in the job receivesthe response message transmitted from the receiving work machine;receive an acceptance message from the sending work machine responsiveto the sending of the response message; and join the job in theplacement relative to the other waste processing work machines alreadyjoined in the job; wherein the sending work machine and the receivingwork machine, together with the other waste processing work machinesalready joined in the job, form a chain of interlinked work machines,and wherein at least one work machine in the chain of interlinked workmachines is configured to inform one or more of an earlier work machineor a later work machine in the chain, of a work output of the at leastone work machine, and one or more of the earlier work machine or thelater work machine is configured to adjust its operation in dependenceof the work output of the at least one work machine; and whereinexecution of the non-transitory machine readable instructions by the atleast one processor of the receiving work machine is further configuredto cause the receiving work machine to: send a log out message fieldcomprising information on said receiving work machine exiting said job,receive a modified job id, the from the sending work machine, thesending machine removing information relating to said receiving workmachine exiting said job, transmit the modified job id, and exit thejob, wherein said modified job-id comprises information on machinesremaining joined in the job, and their placement in relation to eachother.
 2. A method according to claim 1, wherein said job-id being anidentifier of said job, said job-id comprising said information onmachines joined in the job, and said at least one modified message fieldcomprising a modified job-id, said modified job-id comprisinginformation of the receiving machine and its placement in relation toother machines earlier joined in the job.
 3. A method according to claim1, wherein said message comprises a first message field comprising anidentifier of said sending working machine, said message comprises asecond message field comprising an identifier of said receiving workingmachine, and said message comprises a third message field comprising thejob-id, which said job-id further comprises information on workingmachines currently joined in the job.
 4. A method according to claim 1,wherein said sending working machine is a communication master in saidjob and said communication master giving communication turns to otherworking machines in said job.
 5. The method according to claim 1,wherein the updated job identifier includes one or more of informationon user(s), a work site, a work type, work machines joined to the joband configurations of the work machines joined to the job andoperational parameters for the work machines joined to the job.
 6. Themethod according to claim 1, wherein the updated job identifier is usedby one or more of the waste processing work machines joined to the jobto set an operational parameter of the waste processing work machine. 7.The method according to claim 1 wherein the processor is configured tocause the receiving work machine to receive a control message sent froma previous work machine in a chain of waste processing work machinesjoined to the job, and wherein the receiving work machine adjusts itsperformance based on the received control message.
 8. The methodaccording to claim 7, wherein the control message instructs thereceiving work machine to slow its operation and the receiving workmachine slows its operation and sends another control message to a nextwork machine in the chain to slow its operation.
 9. A method formanaging work machines that includes a sending work machine and areceiving work machine, the sending work machine including a processorconnected to a communication module, the processor configured to executenon-transitory machine readable instructions, wherein the methodcomprises: execution of the non-transitory machine readable instructionsby the processor to cause the sending work machine to control thecommunication module to: transmit a message to a receiving work machine,said message comprising message fields, wherein at least one messagefield of the message fields comprises information on other work machinesalready joined in a job and a job identifier (job-id), receive a messagecomprising at least one modified message field including an updated jobidentifier from said receiving work machine, wherein execution of thenon-transitory machine readable instructions by the processor causes thesending work machine to determine from said modified message field,information of the receiving work machine and a placement of thereceiving work machine in relation to other work machines already joinedin the job; transmit an acceptance message to the receiving work machineto allow the receiving work machine to join the job in the placementrelative to the other work machines already joined in the job; transmitthe updated job identifier to all other work machines joined in the job;wherein the sending work machine and the receiving work machine,together with the other machines already joined in the job, form a chainof interlinked work machines, and wherein at least one work machine inthe chain of interlinked work machines is configured to inform one ormore of an earlier work machine or a later work machine in the chain, ofa work output of the at least one work machine, and one or more of theearlier work machine or the later work machine is configured to adjustits operation in dependence of the work output of the at least one workmachine and the updated job identifier; and wherein execution of thenon-transitory machine readable instructions by the processor furthercauses the sending work machine to: receive a message comprising a logout message field, said log out message field comprising information onsaid receiving work machine exiting said job, modify a job id byremoving information on said receiving work machine exiting said job,and send the modified job id, wherein said modified job-id comprisesinformation on working machines remaining joined in the job, and aplacement of the working machines remaining joined in the job inrelation to each other.
 10. A method according to claim 9, wherein saidjob-id being an identifier of said job, said job-id comprising saidinformation on machines joined in the job, and said at least onemodified message field comprising a modified job-id, said modifiedjob-id comprising information of the receiving machine and its placementin relation to other machines earlier joined in the job, and said methodcomprising receiving said modified job-id from said receiving workmachine to said sending work machine.
 11. A non-transitory computerprogram product comprising computer executable code, said computerexecutable code being arranged to, when executed on a processor, tocause a system to: receive a first message at a first working machine,said first message comprising message fields, wherein at least onemessage field comprises information on working machines already joinedin the job and a job identifier, form at least one modified messagefield to update the job identifier to include information of thereceiving first working machine including an operational parameter and aplacement of the first working machine in relation to the other workingmachines already joined in the job, transmit said at least one modifiedmessage field from said receiving first working machine to a secondworking machine that sent the first message, wherein each workingmachine in a chain of working machines joined in the job receives the atleast one modified message field; wherein the first working machinejoins the job upon receipt of an acceptance message from the secondworking machine and at least one of the working machines in the chain ofworking machines joined in the job updates an operational parameter inresponse to the updated job identifier; and wherein execution of thecomputer executable code by the processor is further configured to causethe system to; receive a log out message field at the second workingmachine, said log out message field comprising information on the firstworking machine exiting said job, the second working machine configuredto modify a job-id by removing information on the first working machineexiting said job, transmit the modified job-id to the first workingmachine, the modified job-id comprising information on machinesremaining joined in the job, and their placement in relation to eachother; and wherein the first working machine is configured to exit thejob.
 12. A non-transitory computer program product comprising computerexecutable code, said computer executable code being arranged to, whenexecuted on a processor, to cause a system to: transmit a message to areceiving entity from a sending entity, said message comprising messagefields, wherein at least one message field comprises information onentities already joined in the job and a job identifier (job-id),receive a message comprising at least one modified message fieldincluding an updated job identifier from said receiving entity to saidsending entity, said modified message field including information of thereceiving entity and its placement in relation to other entities alreadyjoined in the job; transmit an acceptance message to the receivingentity to allow the receiving entity to join the job with the otherentities already joined in the job; transmit the updated job identifierto the other entities already joined in the job; wherein at least one ofthe other entities already joined in the job adjusts an operationalparameter based on the updated job identifier; and wherein execution ofthe computer executable code by the processor is further configured tocause the system to; receive a message comprising a log out messagefield, said log out message field comprising information on saidreceiving work machine exiting said job, modify a job id by removinginformation on said receiving work machine exiting said job, and sendthe modified job id, wherein said modified job-id comprises informationon working machines remaining joined in the job, and a placement of theworking machines remaining joined in the job in relation to each other.13. A messaging system for controlling a waste processing work machinesthat include a sending work machine and a receiving work machine, thereceiving work machine including a processor connected to acommunication module, the processor configured to execute non-transitorymachine readable instructions, wherein the execution of thenon-transitory machine readable instructions by the processor isconfigured to cause the messaging system, to form messages comprisingmessage fields, of which at least one message field comprises a job-id,which comprises information on a current work process, and placement ofentities currently joined in the current work process in relation toeach other, and a new entity currently joined in the work process,wherein the messaging system comprises: the sending work machineconfigured to send a first message including the message fields to thereceiving work machine; the receiving work machine configured to detectat least one message field of the message fields of the first message,the detected at least one message field including information on otherwaste processing work machines already joined in a job and a jobidentifier (job-id); the receiving work machine configured to form atleast one modified message field to update the job identifier to includeinformation of the receiving work machine and a placement of thereceiving work machine in relation to the other waste processing workmachines already joined in the job, the receiving work machineconfigured to transmit using the communication module the updated jobidentifier in a response message sent from the receiving work machine tothe sending work machine, wherein other waste processing work machinesalready joined in the job receive the response message transmitted fromthe receiving work machine; the receiving work machine is configured toreceive an acceptance message from the sending work machine responsiveto the sending of the response message, and wherein the receiving workmachine is configured to join the job in the placement relative to theother waste processing work machines already joined in the job; whereinthe sending work machine and the receiving work machine, together withthe other waste processing work machines already joined in the job, forma chain of interlinked work machines, and wherein at least one workmachine in the chain of interlinked work machines is configured toinform one or more of an earlier work machine or a later work machine inthe chain, of a work output of the at least one work machine, and one ormore of the earlier work machine or the later work machine is configuredto adjust its operation in dependence of the work output of the at leastone work machine; and wherein the receiving work machine is configuredto send a log out message field comprising information on the receivingwork machine exiting the job; and the sending work machine is configuredto modify a job-id by removing information relating the receiving workmachine exiting the job; the sending work machine is configured totransmit the modified job id; and the receiving work machine isconfigured to exit the job, wherein the modified job-id comprisesinformation on machines remaining joined in the job, and their placementin relation to each other.
 14. A messaging system according to claim 13,comprising an entity participating in the current work process, whereinthe entity is arranged to be a communication master arranged to givecommunication turns to one or more other entities participating in thecurrent work process.
 15. A messaging system according to claim 14,comprising an enquiry message sent by the communication master, theenquiry message comprising the job-id.
 16. A messaging system accordingto claim 13, comprising a joining message sent by a new entity joiningto the job, which joining message comprises a modified job-id comprisinginformation on the new entity.